diff --git a/preprocessed/DexOpenDoor-v1/norm_stats.json b/preprocessed/DexOpenDoor-v1/norm_stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bd6e6872318e776251ad6b2cea997a603da0e75
--- /dev/null
+++ b/preprocessed/DexOpenDoor-v1/norm_stats.json
@@ -0,0 +1,357 @@
+{
+  "count": 12434,
+  "target_image_size": [
+    192,
+    256
+  ],
+  "cameras": [
+    "front_camera",
+    "left_camera",
+    "robot_camera",
+    "top_camera"
+  ],
+  "state_dim": 58,
+  "action_dim": 22,
+  "state_mean": [
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+    0.110567516037433,
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+  "state_std": [
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+    0.04460565124531172,
+    0.3434387858995558
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+    0.01501707741476421,
+    0.054332255510647895,
+    0.040621345196484714
+  ],
+  "action_std": [
+    0.04225339641662777,
+    0.05512187394931488,
+    0.0512461791438848,
+    0.0001,
+    0.0001,
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+    0.07337631870807733,
+    0.040243355349644704,
+    0.08103848566474241,
+    0.07387453541316168
+  ],
+  "state_norm_policy": "continuous_only",
+  "state_fields": [
+    {
+      "path": "obs/agent/qpos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        0,
+        23
+      ]
+    },
+    {
+      "path": "obs/agent/qvel",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 23,
+      "slice": [
+        23,
+        46
+      ]
+    },
+    {
+      "path": "obs/extra/door_angle",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        46,
+        47
+      ]
+    },
+    {
+      "path": "obs/extra/door_pos",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 3,
+      "slice": [
+        47,
+        50
+      ]
+    },
+    {
+      "path": "obs/extra/handle_angle",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        50,
+        51
+      ]
+    },
+    {
+      "path": "obs/extra/handle_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        51,
+        52
+      ]
+    },
+    {
+      "path": "obs/extra/is_door_open",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        52,
+        53
+      ]
+    },
+    {
+      "path": "obs/extra/is_handle_unlocked",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        53,
+        54
+      ]
+    },
+    {
+      "path": "obs/extra/is_latch_unlocked",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        54,
+        55
+      ]
+    },
+    {
+      "path": "obs/extra/latch_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        55,
+        56
+      ]
+    },
+    {
+      "path": "obs/extra/latch_slide",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        56,
+        57
+      ]
+    },
+    {
+      "path": "obs/extra/opening_progress",
+      "dtype": "float32",
+      "kind": "continuous",
+      "dim": 1,
+      "slice": [
+        57,
+        58
+      ]
+    }
+  ],
+  "state_norm_slices": [
+    [
+      0,
+      23
+    ],
+    [
+      23,
+      46
+    ],
+    [
+      46,
+      47
+    ],
+    [
+      47,
+      50
+    ],
+    [
+      50,
+      51
+    ],
+    [
+      51,
+      52
+    ],
+    [
+      52,
+      53
+    ],
+    [
+      53,
+      54
+    ],
+    [
+      54,
+      55
+    ],
+    [
+      55,
+      56
+    ],
+    [
+      56,
+      57
+    ],
+    [
+      57,
+      58
+    ]
+  ],
+  "notes": "State stats computed ONLY on continuous dims; discrete/bool dims keep raw (mean=0,std=1). All stats computed over aligned length T (drop last obs to align with actions)."
+}
\ No newline at end of file
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